/PROG  TL1_DROP
/ATTR
OWNER		= MNEDITOR;
COMMENT		= "TOOL1 DROP";
PROG_SIZE	= 1428;
CREATE		= DATE 12-04-21  TIME 12:13:48;
MODIFIED	= DATE 25-02-22  TIME 15:39:26;
FILE_NAME	= ;
VERSION		= 0;
LINE_COUNT	= 33;
MEMORY_SIZE	= 1928;
PROTECT		= READ_WRITE;
TCD:  STACK_SIZE	= 0,
      TASK_PRIORITY	= 50,
      TIME_SLICE	= 0,
      BUSY_LAMP_OFF	= 0,
      ABORT_REQUEST	= 0,
      PAUSE_REQUEST	= 0;
DEFAULT_GROUP	= 1,*,*,*,*;
CONTROL_CODE	= 00000000 00000000;
/MN
   1:   ;
   2:  LBL[10] ;
   3:  UFRAME_NUM=0 ;
   4:  UTOOL_NUM=1 ;
   5:  WAIT DI[25:TOOL #1]=OFF    ;
   6:J P[1:CLEAR] 50% CNT100    ;
   7:  OVERRIDE=50% ;
   8:L P[2:APPROACH] 600mm/sec CNT100    ;
   9:L P[3:APPROACH] 300mm/sec CNT100    ;
  10:L P[4:APPROACH] 300mm/sec FINE    ;
  11:L P[5:DROP] 100mm/sec FINE ACC50 DB    0.0mm,DO[20:TOOL1 POS]=ON    ;
  12:  DO[20:TOOL1 POS]=ON ;
  13:  DO[13:REQ ATC CHUCK]=OFF ;
  14:  DO[14:REQ ATC UNCHUCK]=ON ;
  15:  WAIT DI[14:ATC UNCHUCK OK]=ON    ;
  16:  WAIT   1.00(sec) ;
  17:  DO[14:REQ ATC UNCHUCK]=OFF ;
  18:L P[10] 100mm/sec FINE DB    0.0mm,DO[20:TOOL1 POS]=OFF    ;
  19:  WAIT DI[25:TOOL #1]=ON    ;
  20:  IF DI[15:ARM CHECK OK]=ON,JMP LBL[67] ;
  21:  JMP LBL[68] ;
  22:  LBL[67] ;
  23:  PAUSE ;
  24:  WAIT DI[15:ARM CHECK OK]=OFF    ;
  25:  IF DI[15:ARM CHECK OK]=ON,JMP LBL[67] ;
  26:  LBL[68] ;
  27:   ;
  28:L P[6:APPROACH] 100mm/sec FINE ACC50 DB    0.0mm,DO[20:TOOL1 POS]=OFF    ;
  29:L P[7:APPROACH] 300mm/sec CNT50    ;
  30:  WAIT DI[25:TOOL #1]=ON    ;
  31:L P[8:APPROACH] 300mm/sec CNT50    ;
  32:L P[9:CLEAR] 600mm/sec CNT50 ACC70    ;
  33:  MOVE TO HOME    ;
/POS
P[1:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3066.682  mm,	Y =   759.262  mm,	Z =  -484.000  mm,
	W =  -180.000 deg,	P =     -.000 deg,	R =    90.000 deg,
	E1=    15.275 deg
};
P[2:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3232.842  mm,	Y =   770.000  mm,	Z = -1000.000  mm,
	W =  -179.999 deg,	P =    89.668 deg,	R =    90.000 deg,
	E1=    15.275 deg
};
P[3:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=    22.055 deg,	J2=   -13.000 deg,	J3=    73.388 deg,
	J4=    83.341 deg,	J5=  -111.074 deg,	J6=    72.138 deg,
	E1=    15.275 deg
};
P[4:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3223.727  mm,	Y =   506.950  mm,	Z = -1355.326  mm,
	W =   120.118 deg,	P =    89.224 deg,	R =    30.281 deg,
	E1=    15.634 deg
};
P[5:"DROP"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3223.611  mm,	Y =   507.055  mm,	Z = -1437.442  mm,
	W =   120.267 deg,	P =    89.227 deg,	R =    30.432 deg,
	E1=    15.638 deg
};
P[6:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3223.392  mm,	Y =   700.000  mm,	Z = -1437.877  mm,
	W =   120.799 deg,	P =    89.234 deg,	R =    30.962 deg,
	E1=    15.639 deg
};
P[7:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3230.583  mm,	Y =   700.698  mm,	Z = -1256.697  mm,
	W =  -179.670 deg,	P =    89.667 deg,	R =    90.330 deg,
	E1=    15.275 deg
};
P[8:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3232.822  mm,	Y =   770.000  mm,	Z = -1000.000  mm,
	W =  -180.000 deg,	P =    89.668 deg,	R =    90.000 deg,
	E1=    15.275 deg
};
P[9:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3066.683  mm,	Y =   759.262  mm,	Z =  -484.000  mm,
	W =   180.000 deg,	P =     -.000 deg,	R =    90.000 deg,
	E1=   195.729 deg
};
P[10]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3223.501  mm,	Y =   561.518  mm,	Z = -1437.571  mm,
	W =   120.416 deg,	P =    89.231 deg,	R =    30.581 deg,
	E1=    15.639 deg
};
/END
